CN106584507A - Fully compliant pneumatic mechanical arm structure - Google Patents
Fully compliant pneumatic mechanical arm structure Download PDFInfo
- Publication number
- CN106584507A CN106584507A CN201610339922.4A CN201610339922A CN106584507A CN 106584507 A CN106584507 A CN 106584507A CN 201610339922 A CN201610339922 A CN 201610339922A CN 106584507 A CN106584507 A CN 106584507A
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- CN
- China
- Prior art keywords
- mechanical arm
- grazing condition
- main body
- pneumatic
- fully compliant
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Actuator (AREA)
Abstract
The invention discloses a fully compliant pneumatic mechanical arm structure which adopts a lengthwise conical structure. The fully compliant pneumatic mechanical arm structure comprises a fully compliant pneumatic mechanical arm main body, a mechanical arm center body positioned in the conical center hole of the fully compliant pneumatic mechanical arm main body, and air passages evenly surrounding the mechanical arm center body and in axially symmetrical distribution, wherein the air passages extend from a large-diameter end to a small-diameter end and keeps a certain distance with an end surface so as to keep gas inside the air passages, and a layer of fiber reinforced composite material is arranged on the outer surface of a mechanical arm; the air passages in axially symmetrical distribution are of lengthwise conical structures; the fully compliant pneumatic mechanical arm main body is made of a super elastic material, more than 200 percent of deformation is produced under pneumatic pressure, and the hardness of the mechanical arm center body is higher than that of the fully compliant pneumatic mechanical arm main body. Compared with the prior art, the fully compliant pneumatic mechanical arm structure provided by the invention imitates octopus tentacles, and integrates the air passages and the mechanical arm, so that the structural design, the processing and manufacturing, and the assembling of the entire mechanical arm are greatly simplified, 3D printing technology is used for one step processing, and objects in complex shapes can be grabbed, the mass is light, and the transmitting cost is reduced.
Description
Technical field
The invention belongs to On-orbit servicing flexible mechanical arm technical field, is mainly used in space junk clear
Reason operation, space loading system etc..
Background technology
Existing space mechanical arm is mostly Rigid Robot Manipulator.These robot mechanisms are by multiple activities
Joint is combined by being rigidly connected, while using rigid structure, motor, gear, decelerator etc.
Transmission mechanism is used as driver, so that each mechanism part generation action, and existing robot mechanism is logical
Often mechanism is complicated, mass/volume is big, and heavy, control is complicated, big energy-consuming, expensive.And,
Operation can only be realized by the actuator of mechanical arm tail end, mechanical arm itself can not operate object.Therefore,
To complete arresting for different operating object, the end effector mechanism of mechanical arm has to design different connecing
Mouthful.Rigid Robot Manipulator captures the in-orbit capture task mainly for cooperative target, these cooperative targets arrested
It is marked in capture process in preferable dynamics state, and the mechanical interface arrested with cooperation, catch
Gesture stability problem after obtaining is complicated, and Rigid Robot Manipulator capture has significant limitation.
And soft mechanical arm is made up of flexible flexible part, thus it is possible to vary the shape of itself, can be miscellaneous
Move in random structure, realize high-tolerance flexibility capture.Soft pneumatic mechanical manipulator adopts flexible super-elasticity material
Material, lightweight, fracture strength is high, quick response, super large deformation.However, existing soft pneumatic mechanical manipulator
Rigid support and joint etc. are all employed to some extent, not Grazing condition machinery truly
Arm.At present, also without the Grazing condition pneumatic mechanical manipulator used in space.
The content of the invention
The present invention is directed to the deficiency of Rigid Robot Manipulator in space, based on biomimetic concept, using elastic material
With reference to special structure design and pneumatics, it is proposed that a kind of Grazing condition pneumatic mechanical manipulator, for sky
Between defragmentation mechanism and space loading system.
To overcome the shortcomings of conventional rigid mechanical arm, the purpose of design of Grazing condition pneumatic mechanical manipulator is realized, this
Invention employs following technical scheme：
The Grazing condition Pneumatic catching tentacle structure of the present invention, the conical structure in lengthwise, including Grazing condition
Mechanical arm main body, the robot central body positioned at the conical center of Grazing condition mechanical arm main body, uniformly enclose
Around the air flue of robot central body axial symmetry distribution, air flue prolongs from the big one end of diameter to the little one end of diameter
Stretch and apart from end face certain distance to maintain the gas in air flue, mechanical arm outer surface arranges one layer of fiber
Strengthen composite, wherein, air flue is also in the conical structure of lengthwise, and flexible mechanical arm main body is superlastic
Property material, more than 200% deformation is produced under Pneumatic pressure, the hardness of robot central body is more than flexibility
Mechanical arm main body.
Wherein, robot central body equally adopts lengthwise conical configuration.
Wherein, the material of robot central body is dimethyl silicone polymer, dimethyl silicone polymer, poly- carbon
Acid esters polyurethane, epoxy resin, carbon nano-fiber/dimethyl silicone polymer composite etc..
Further, fiber-reinforced layer is sticked on mechanical arm outer surface.
Further, the cross sectional shape of air flue is long and narrow variable cross-section circular arc type.
Further, the material of mechanical arm main body is methyl silicone rubber, methyl vinyl silicone rubber, methyl
Ethenylphenyl silicon rubber, eyeball silicon rubber etc..
Further, air flue quantity is 3-9.
Wherein, fiber-reinforced layer is using the larger elastic material of intensity, carbon nano-fiber/methyl silicon rubber
Glue or carbon nano-fiber/methyl vinyl phenyl silicon rubber etc..
Further, the thickness of fiber-reinforced layer is 0.05cm-0.1cm.
Wherein, machine center body with flexible mechanical arm main body is formed by solution solidification, therefore both are complete
Combine together entirely.
Compared with existing semi-flexible pneumatic machinery arm configuration, the Grazing condition pneumatic machinery arm configuration of the present invention
The tentacle of imitative octopus, air flue is combined together in itself with mechanical arm so that the structure design of whole mechanical arm,
Processing and manufacturing and assembling are greatly simplified, it might even be possible to using 3D printing technique one-shot forming.And energy
It is enough to be applied to the object for arresting complicated shape.Light weight (the Grazing condition mechanical arm of 50cm length, its weight
Less than 300g), process for machining and manufacturing simplifies, and mechanical arm development cost is low.Due to Grazing condition mechanical arm
Very light in weight, launch cost will be substantially reduced.
Description of the drawings
Fig. 1 shows for the Grazing condition pneumatic machinery arm configuration end face vertically of one embodiment of the present invention
It is intended to.
Fig. 2 is the side view of the Grazing condition pneumatic machinery arm configuration of one embodiment of the present invention.
Wherein, 1 be fiber-reinforced layer, 2 be mechanical arm main body, 3 be robot central body, 4 be air flue.
Specific embodiment
The Grazing condition pneumatic machinery arm configuration of the present invention is further described below in conjunction with the accompanying drawings, this is said
It is bright to be merely exemplary, it is no intended to limit the scope of the invention.
Referring to Fig. 1, Fig. 1 for one embodiment of the present invention Grazing condition pneumatic machinery arm configuration vertically
End view.Fig. 2 is the side of the Grazing condition pneumatic machinery arm configuration of one embodiment of the present invention
Figure.Wherein, Grazing condition pneumatic machinery arm configuration, including Grazing condition mechanical arm main body 2, positioned at Grazing condition
The robot central body 3 at the conical center of mechanical arm main body 2, evenly around robot central body axial symmetry
The air flue of distribution, using silicon rubber (Ecoflex) and dimethyl silicone polymer (PDMS) connecting shaping
Method is making whole Grazing condition mechanical arm.PDMS and Ecoflex are combined together to form composite.
This material is readily available, inexpensively.The Shore A level hardness number of PDMS is 40, and this causes the deformation of PDMS
Very little, institute is for serving as robot central body portion.The hardness of silicon rubber (Ecoflex) is more soft,
This material just can rupture when deformation reaches 900%, therefore be more suitable for Grazing condition mechanical arm
Agent structure, wherein, machine center body and flexible mechanical arm main body are formed by solution solidification, because
Both combine together completely for this.Grazing condition mechanical arm will using long conical configuration, circular cone basal diameter 2cm,
The a diameter of 1cm of top surface, length is 20cm, and the cross section of mechanical arm will axially even variation, such as Fig. 2
It is shown.Air flue 4 extends and apart from the distance of end face one to keep from the big one end of diameter to the little one end of diameter
The firmly gas in air flue, robot central body structural rigidity is big compared with mechanical arm main body, and it is same using length
Conical configuration, basal diameter is 0.5cm, top surface diameter 0.25cm, length 20cm, centerbody it is transversal
Face will axially even variation, as shown in Figure 2.Air flue design is as shown in cross section, specific one
In embodiment, 3 air flue axial symmetry distributions.The outer surface of mechanical arm adheres to one layer of fiber-reinforced composite
Material, wherein, air flue is also in the conical structure of lengthwise, and flexible mechanical arm main body is elastic material,
More than 400% deformation is produced under Pneumatic pressure, the thickness of fiber-reinforced layer is 0.05cm-0.1cm, is adopted
The larger elastic material of intensity, specially carbon nano-fiber/methyl silicone rubber or carbon nano-fiber/
Methyl vinyl phenyl silicon rubber etc..
In another embodiment, air flue can be 4,6, can replace 3 formation different
Embodiment.
In another embodiment, the material of the material of mechanical arm main body and robot central body can be replaced respectively
It is changed to methyl silicone rubber, methyl vinyl silicone rubber, methyl vinyl phenyl silicon rubber, eyeball silicon rubber etc.
With dimethyl silicone polymer, polycarbonate polyurethane, epoxy resin, carbon nano-fiber/poly dimethyl silicon
Oxygen alkane composite etc., it is also possible to form different embodiments.It is preferred that, the cross sectional shape of air flue is narrow
Long variable cross-section circular arc type.
Although giving detailed description to the specific embodiment of the present invention above and illustrating, should refer to
Bright, we can carry out various equivalent changes to above-mentioned embodiment and repair according to the conception of the present invention
Change, the function produced by it still without departing from specification and accompanying drawing covered it is spiritual when, all should this
Within the protection domain of invention.
Claims (10)
1. Grazing condition pneumatic machinery arm configuration, the conical structure in lengthwise, including Grazing condition mechanical arm
Main body, the robot central body positioned at the conical center of Grazing condition mechanical arm main body, evenly around machinery
The symmetrical air flue of arm hub shaft, air flue extend to the little one end of diameter from the big one end of diameter and away from
To maintain the gas in air flue with a certain distance from end face, mechanical arm outer surface arranges one layer of fiber reinforcement and answers
Condensation material, wherein, air flue is also in the conical structure of lengthwise, and flexible mechanical arm main body is elastic material,
More than 200% deformation is produced under Pneumatic pressure, the hardness of robot central body is more than flexible mechanical arm master
Body.
2. Grazing condition pneumatic machinery arm configuration as claimed in claim 1, wherein, robot central body
Equally adopt lengthwise conical configuration.
3. Grazing condition pneumatic machinery arm configuration as claimed in claim 1, wherein, robot central body
Material be dimethyl silicone polymer, polycarbonate polyurethane, epoxy resin, carbon nano-fiber/poly- two
Methylsiloxane composite etc..
4. the Grazing condition pneumatic machinery arm configuration as described in any one of claim 1-3, wherein, fiber
Enhancement layer is sticked on mechanical arm outer surface.
5. the Grazing condition pneumatic machinery arm configuration as described in any one of claim 1-3, wherein, air flue
Cross sectional shape be long and narrow variable cross-section circular arc type.
6. the Grazing condition pneumatic machinery arm configuration as described in any one of claim 1-3, wherein, machinery
The material of arm main body be methyl silicone rubber, methyl vinyl silicone rubber, methyl vinyl phenyl silicon rubber,
Eyeball silicon rubber etc..
7. the Grazing condition pneumatic machinery arm configuration as described in any one of claim 1-3, wherein, air flue
Quantity is 3-9.
8. the Grazing condition pneumatic machinery arm configuration as described in any one of claim 1-3, wherein, carbon is fine
Dimension strengthens silicon rubber elastic material, carbon nano-fiber/methyl silicone rubber or carbon nano-fiber/methyl second
Thiazolinyl phenyl siloxane rubber etc..
9. the Grazing condition pneumatic machinery arm configuration as described in any one of claim 1-3, wherein, fiber
The thickness of enhancement layer is 0.05cm-0.1cm.
10. the Grazing condition pneumatic machinery arm configuration as described in any one of claim 1-3, wherein, machinery
Centerbody with flexible mechanical arm main body is formed by solution solidification, therefore both combine together completely.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610339922.4A CN106584507A (en) | 2016-05-19 | 2016-05-19 | Fully compliant pneumatic mechanical arm structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610339922.4A CN106584507A (en) | 2016-05-19 | 2016-05-19 | Fully compliant pneumatic mechanical arm structure |
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| CN106584507A true CN106584507A (en) | 2017-04-26 |
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| CN201610339922.4A Pending CN106584507A (en) | 2016-05-19 | 2016-05-19 | Fully compliant pneumatic mechanical arm structure |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108212807A (en) * | 2017-12-29 | 2018-06-29 | 深圳市越疆科技有限公司 | A kind of method, apparatus and mechanical arm of robot segregating articles |
| CN108501023A (en) * | 2018-04-10 | 2018-09-07 | 佛山市奥耶克思机械设备有限公司 | A kind of multiple degrees of freedom flexible manipulator |
| CN108501024A (en) * | 2018-04-10 | 2018-09-07 | 佛山市奥耶克思机械设备有限公司 | A kind of flexible manipulator that bending is controllable |
| CN108903821A (en) * | 2018-08-01 | 2018-11-30 | 无锡盛雅生物科技有限公司佛山分公司 | It is capable of the soft robot of removing dust and clearing ash |
| CN109649698A (en) * | 2018-12-17 | 2019-04-19 | 北京精密机电控制设备研究所 | A kind of software arm capturing system and space non-cooperative target racemization method |
| CN110253559A (en) * | 2019-07-29 | 2019-09-20 | 北京理工大学 | A kind of pumping rotation Pneumatic artificial muscle and its manufacturing method |
| CN111716341A (en) * | 2020-06-01 | 2020-09-29 | 大连理工大学 | Magnetically variable stiffness soft robot driving module and manufacturing method thereof |
| CN111761606A (en) * | 2020-07-08 | 2020-10-13 | 北京卫星环境工程研究所 | Pneumatic soft tentacle robot based on novel pneumatic muscles |
| CN112356020A (en) * | 2020-09-21 | 2021-02-12 | 中国人民解放军军事科学院国防科技创新研究院 | Variable cross-section flexible arm feedback control line length positioning method and device and medium |
| CN113236905A (en) * | 2021-06-25 | 2021-08-10 | 杭州电子科技大学 | Inchworm type magnetic control soft robot for small-sized pipeline detection and using method |
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| US4792173A (en) * | 1987-10-30 | 1988-12-20 | Duke University | Fluid actuated limb |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108212807B (en) * | 2017-12-29 | 2021-12-31 | 深圳市越疆科技有限公司 | Method and device for sorting articles by robot and mechanical arm |
| CN108212807A (en) * | 2017-12-29 | 2018-06-29 | 深圳市越疆科技有限公司 | A kind of method, apparatus and mechanical arm of robot segregating articles |
| CN108501023A (en) * | 2018-04-10 | 2018-09-07 | 佛山市奥耶克思机械设备有限公司 | A kind of multiple degrees of freedom flexible manipulator |
| CN108501024A (en) * | 2018-04-10 | 2018-09-07 | 佛山市奥耶克思机械设备有限公司 | A kind of flexible manipulator that bending is controllable |
| CN108903821A (en) * | 2018-08-01 | 2018-11-30 | 无锡盛雅生物科技有限公司佛山分公司 | It is capable of the soft robot of removing dust and clearing ash |
| CN109649698A (en) * | 2018-12-17 | 2019-04-19 | 北京精密机电控制设备研究所 | A kind of software arm capturing system and space non-cooperative target racemization method |
| CN110253559A (en) * | 2019-07-29 | 2019-09-20 | 北京理工大学 | A kind of pumping rotation Pneumatic artificial muscle and its manufacturing method |
| CN111716341A (en) * | 2020-06-01 | 2020-09-29 | 大连理工大学 | Magnetically variable stiffness soft robot driving module and manufacturing method thereof |
| CN111716341B (en) * | 2020-06-01 | 2021-05-11 | 大连理工大学 | Magnetically variable stiffness soft robot driving module and manufacturing method thereof |
| CN111761606A (en) * | 2020-07-08 | 2020-10-13 | 北京卫星环境工程研究所 | Pneumatic soft tentacle robot based on novel pneumatic muscles |
| CN112356020A (en) * | 2020-09-21 | 2021-02-12 | 中国人民解放军军事科学院国防科技创新研究院 | Variable cross-section flexible arm feedback control line length positioning method and device and medium |
| CN112356020B (en) * | 2020-09-21 | 2021-06-04 | 中国人民解放军军事科学院国防科技创新研究院 | Variable cross-section flexible arm feedback control line length positioning method and device and medium |
| CN113236905A (en) * | 2021-06-25 | 2021-08-10 | 杭州电子科技大学 | Inchworm type magnetic control soft robot for small-sized pipeline detection and using method |
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Application publication date: 20170426 |